2015
DOI: 10.1177/1687814015589479
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Design and experimental study of joint torque balance mechanism of seed implantation articulated robot

Abstract: This article discusses several new mechanisms that may be used in prostate cancer seed implant robotics. We have developed relatively simple but effective mathematical models of multi-needle puncture prostate using nonlinear spring-damper model; based on Automatic Dynamic Analysis of Mechanical Systems or dynamics module, displacement simulation for prostate is performed, and simulation results indicate that the multi-needle puncture mechanism could reduce prostate displacement in the y-or z-direction. Then ai… Show more

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Cited by 7 publications
(8 citation statements)
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“…However, precise position control is a major difficulty in pneumatic. So, this paper uses the pneumatic servo valve newly developed and developed by Professor Yuan Lipeng and his team from the School of Mechanical and Electrical Engineering of Harbin Institute of Technology as the basis, and combines the fuzzy adaptive PID control strategy of the literature 34 to control the position of the pneumatic servo system. Provide safety guarantee for the precise realization of pneumatic servo position control.…”
Section: Safety Analysis Of Implantation Robot In Mri Environmentmentioning
confidence: 99%
“…However, precise position control is a major difficulty in pneumatic. So, this paper uses the pneumatic servo valve newly developed and developed by Professor Yuan Lipeng and his team from the School of Mechanical and Electrical Engineering of Harbin Institute of Technology as the basis, and combines the fuzzy adaptive PID control strategy of the literature 34 to control the position of the pneumatic servo system. Provide safety guarantee for the precise realization of pneumatic servo position control.…”
Section: Safety Analysis Of Implantation Robot In Mri Environmentmentioning
confidence: 99%
“…In 2015, Zhang et al. designed a 5‐DOF prostatic interventional surgery robot 37 . This device offered hovering of the robot cantilever in any position within the working range, without any external movement, self‐locking of the reducer, or a braking system.…”
Section: Image‐guided Robots For Prostate Brachytherapymentioning
confidence: 99%
“…In 37 This device offered hovering of the robot cantilever in any position within the working range, without any external movement, self-locking of the reducer, or a braking system. However, the instability of the robot's centre of mass caused the arm to shake when it moved, which increased positioning errors.…”
Section: Us-guided Robotic Systemmentioning
confidence: 99%
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“…Our group has developed an RRT-type cantilever articulated seed implantation robot for prostate cancer BT in previous work. 26 For robot structural design problems, in this study, we improved the previous seed implantation robots, which are equipped with counterbalance and soft tissue stabilization explained in the second section as shown in Figure 4. We design a variable static torque spring balancing device under some conditions as shown in Figure 5.…”
Section: Design Of Seed Implantation Robot With Counterbalance and So...mentioning
confidence: 99%